Siemens Simotics User manual

SIMOTICS
Drive technology
Planetary gearboxes for
servomotors
Operating Instructions
09/2020
A5E50494253B AA
Introduction
Fundamental safety
instructions
1
Description of the
planetary gearbox
2
Preparing for use
3
Mounting
4
Commissioning
5
Operation
6
Faults and their
rectification
7
Maintenance
8
Decommissioning and
disposal
9
Technical data and
dimension drawings
10

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11/2020 Subject to change
Copyright © Siemens AG 2005 - 2020.
All rights reserved
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
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All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

Planetary gearboxes for servomotors
Operating Instructions, 09/2020, A5E50494253B AA 3
Introduction
This documentation should be kept in a location where it can be easily accessed and made
available to the personnel responsible.
Target group
These Operating Instructions are intended for installation engineers, commissioners, machine
operators, and service and maintenance personnel.
Utilization phase
Planning and configuration phase, implementation phase, setup and commissioning phase,
application phase, maintenance and service phase
About these Operating Instructions
These Operating Instructions are applicable for planetary gearboxes, which are available with
SIMOTICS S servomotors; these will be subsequently called "Planetary gearboxes". These
Operating Instructions are only applicable in conjunction with the Operating Instructions of
the connected servomotor.
The Operating Instructions provide information about the components that enable the target
group to install, set up, test, commission, operate, and troubleshoot the products and
systems correctly and safely.
These Operating Instructions provide information about handling planetary gearboxes, from
the initial delivery to disposal.
Additional information is provided in the engineering manual for the respective servomotors.
Carefully read these Operating Instructions before handling the planetary gearbox. This will
ensure safe, problem-free operation and maximize the service life of the gearbox.
Siemens strives continually to improve the quality of information provided in these Operating
Instructions.
•If you find any mistakes or would like to offer suggestions about how this document could
be improved, contact the Siemens Service Center.
•Always follow the safety instructions and notices in this Product Information.
The warning notice system is explained on the rear of the inside front.

Introduction
Planetary gearboxes for servomotors
4Operating Instructions, 09/2020, A5E50494253B AA
Text features
In addition to the notes that you must observe for your own personal safety as well as to
avoid material damage, in this document you will find the following text features:
Operating instructions
Handling instructions with a specified sequence start with the word "Procedure":
The individual handling steps are numbered.
1. Execute the operating instructions in the specified sequence.
❒
The square indicates the end of the operating instruction.
Operating instructions without a specified sequence are identified using a bullet point:
•Execute the operating instructions.
Enumerations
•Enumerations are identified by a bullet point without any additional symbols.
–Enumerations at the second level are hyphenated.
Notes
Notes are shown as follows:
Note
A Note is an important item of information about the product, handling of the
product or the
relevant section of the document. Notes provide you with help or further suggestions/ideas.
More information
Information on the following topics is available at:
•Additional links to download documents
•Using documentation online (find and search in manuals / information)
More information (https://support.industry.siemens.com/cs/de/en/view/108998034)
If you have any questions regarding the technical documentation (e.g. suggestions,
corrections), please send an e-mail to the following address E-mail
(mailto:[email protected]m).

Introduction
Planetary gearboxes for servomotors
Operating Instructions, 09/2020, A5E50494253B AA 5
My support
Information on how to produce individual contents for your own machine documentation
based on Siemens contents is available under the link:
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o use this function, you must register once.
Later, you can log on with your login data.
Training
The following link provides information on SITRAIN - training from Siemens for products,
systems and automation engineering solutions:
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Technical Support
Country-specific telephone numbers for technical support are provided on the Internet under
Contact:
Technical Support (https://support.industry.siemens.com/sc/ww/en/sc/2090)
Internet address for products
Products (http://www.siemens.com/motioncontrol)
Websites of third parties
This document includes hyperlinks to websites of third-party companies. Siemens is not
responsible for and shall not be liable for these websites and is not responsible for the
content or information they provide. Siemens does not control the information on these
websites and is not responsible for the content and information provided there. The user
bears the risk for their use.

Introduction
Planetary gearboxes for servomotors
6Operating Instructions, 09/2020, A5E50494253B AA

Planetary gearboxes for servomotors
Operating Instructions, 09/2020, A5E50494253B AA 7
Table of contents
Introduction ........................................................................................................................................... 3
1 Fundamental safety instructions........................................................................................................... 9
1.1 General safety instructions................................................................................................... 9
1.2 Equipment damage due to electric fields or electrostatic discharge..................................... 14
1.3 Security information .......................................................................................................... 15
1.4 Residual risks of power drive systems ................................................................................. 16
2 Description of the planetary gearbox.................................................................................................. 17
2.1 Correct and intended use................................................................................................... 17
2.2 Technical features and environmental conditions ............................................................... 18
2.2.1 Technical features.............................................................................................................. 18
2.2.2 Environmental conditions .................................................................................................. 19
2.2.3 Degree of protection.......................................................................................................... 20
2.2.4 Noise emission .................................................................................................................. 21
2.2.5 Bearing versions ................................................................................................................ 23
2.3 Properties of planetary gearboxes ...................................................................................... 24
2.4 Structure of the article number .......................................................................................... 25
2.5 Rating plate data................................................................................................................ 26
3 Preparing for use ................................................................................................................................. 29
3.1 Shipping and packaging..................................................................................................... 29
3.2 Transportation and storage................................................................................................ 30
3.2.1 Transport........................................................................................................................... 30
3.2.2 Storage.............................................................................................................................. 34
4 Mounting ............................................................................................................................................. 35
4.1 Safety instructions ............................................................................................................. 35
4.2 Checklist before installation ............................................................................................... 37
4.3 Mounting instructions........................................................................................................ 38
4.3.1 Installation instructions for geared motors ......................................................................... 38
4.3.2 Flange mounting and tightening torques for servomotors with planetary gearbox .............. 39
4.4 Mounting conditions.......................................................................................................... 42
4.5 Attaching the output elements........................................................................................... 44
5 Commissioning .................................................................................................................................... 47
6 Operation............................................................................................................................................. 49
7 Faults and their rectification ............................................................................................................... 51
8 Maintenance........................................................................................................................................ 55

Table of contents
Planetary gearboxes for servomotors
8Operating Instructions, 09/2020, A5E50494253B AA
8.1 Safety instructions ............................................................................................................. 55
8.2 Inspection and maintenance .............................................................................................. 58
8.2.1 Maintenance and inspection intervals ................................................................................ 58
8.2.2 Checking tightness of fastening bolts................................................................................. 59
8.2.3 Cleaning servomotors with planetary gearbox.................................................................... 59
8.2.4 Bearing replacement interval ............................................................................................. 59
8.3 Repair................................................................................................................................ 60
9 Decommissioning and disposal ........................................................................................................... 61
9.1 Decommissioning .............................................................................................................. 61
9.2 Disposal............................................................................................................................. 61
10 Technical data and dimension drawings............................................................................................. 63
10.1 Technical data for servomotors with planetary gearbox...................................................... 63
Index.................................................................................................................................................... 65

Planetary gearboxes for servomotors
Operating Instructions, 09/2020, A5E50494253B AA 9
Fundamental safety instructions
1
1.1 General safety instructions
WARNING
Electric shock and danger to life due to other energy sources
Touching live components can result in death or severe injury.
•Only work on electrical devices when you are qualified for this job.
•Always observe the country-specific safety rules.
Generally, the following steps apply when establishing safety:
1. Prepare for disconnection. Notify all those who will be affected by the procedure.
2. Isolate the drive system from the power supply and take measures to prevent it being
switched back on again.
3. Wait until the discharge time specified on the warning labels has elapsed.
4. Check that there is no voltage between any of the power connections, and between any of
the power connections and the protective conductor connection.
5. Check whether the existing auxiliary supply circuits are de-energized.
6. Ensure that the motors cannot move.
7. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or
water. Switch the energy sources to a safe state.
8. Check that the correct drive system is completely locked.
After you have completed the work, restore the operational readiness in the inverse
sequence.
WARNING
Electric shock due to connection to an unsuitable power supply
When equipment is connected to an unsuitable power supply, exposed components may
carry a hazardous voltage. Contact with hazardous voltage can result in severe injury or
death.
•Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV-
(Protective Extra Low Voltage) output voltages for all connections and terminals of the
electronics modules.

Fundamental safety instructions
1.1 General safety instructions
Planetary gearboxes for servomotors
10 Operating Instructions, 09/2020, A5E50494253B AA
WARNING
Electric shock due to damaged motors or devices
Improper handling of motors or devices can damage them.
Hazardous voltages can be present at the enclosure or at exposed components on damaged
motors or devices.
•Ensure compliance with the limit values specified in the technical data during transport,
storage and operation.
•
Do not use any damaged motors or devices.
WARNING
Electric shock due to unconnected cable shield
Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected
cable shields.
•As a minimum, connect cable shields and the conductors of power cables that are not
used (e.g. brake cores) at one end at the grounded housing potential.
WARNING
Electric shock if there is no ground connection
For missing or incorrectly implemented protective conductor connection for devices with
protection class I, high voltages can be present at open, exposed parts, which when
touched, can result in death or severe injury.
•
Ground the device in compliance with the applicable regulations.
WARNING
Arcing when a plug connection is opened during operation
Opening a plug connection when a system is operation can result in arcing that may cause
serious injury or death.
•Only open plug connections when the equipment is in a voltage-free state, unless it has
been explicitly stated that they can be opened in operation.

Fundamental safety instructions
1.1 General safety instructions
Planetary gearboxes for servomotors
Operating Instructions, 09/2020, A5E50494253B AA 11
NOTICE
Property damage due to loose power connections
Insufficient tightening torques or vibration can result in loose power connections. This can
result in damage due to fire, device defects or malfunctions.
•Tighten all power connections to the prescribed torque.
•Check all power connections at regular intervals, particularly after equipment has been
transported.
NOTICE
Damage to equipment due to unsuitable tightening tools.
Unsuitable tightening tools or fastening methods can damage the screws of the equipment.
•Be sure to only use screwdrivers which exactly match the heads of the screws.
•Tighten the screws with the torque specified in the technical documentation.
•Use a torque wrench or a mechanical precision nut runner with a dynamic torque sensor
and speed limitation system.
WARNING
Unexpected movement of machines caused by radio devices or mobile phones
Using radio devices or mobile telephones in the immediate vicinity of the components can
result in equipment malfunction. Malfunctions may impair the functional safety of machines
and can therefore put people in danger or lead to property damage.
•Therefore, if you move closer than 20 cm to the components, be sure to switch off radio
devices or mobile telephones.
•Use the "SIEMENS Industry Online Support app" only on equipment that has already been
switched off.
WARNING
Unrecognized dangers due to missing or illegible warning labels
Dangers might not be recognized if warning labels are missing or illegible. Unrecognized
dangers may cause accidents resulting in serious injury or death.
•Check that the warning labels are complete based on the documentation.
•Attach any missing warning labels to the components, where necessary in the national
language.
•
Replace illegible warning labels.

Fundamental safety instructions
1.1 General safety instructions
Planetary gearboxes for servomotors
12 Operating Instructions, 09/2020, A5E50494253B AA
WARNING
Unexpected movement of machines caused by inactive safety functions
Inactive or non-adapted safety functions can trigger unexpected machine movements that
may result in serious injury or death.
•Observe the information in the appropriate product documentation before
commissioning.
•Carry out a safety inspection for functions relevant to safety on the entire system,
including all safety-related components.
•Ensure that the safety functions used in your drives and automation tasks are adjusted
and activated through appropriate parameterizing.
•Perform a function test.
•Only put your plant into live operation once you have guaranteed that the functions
relevant to safety are running correctly.
Note
Important safety notices for Safety Integrated functions
If you want to use Safety Integrated functions, you must observe the safety notices in the
Safety Integrated manuals.
WARNING
Active implant malfunctions due to electromagnetic fields
Electromagnetic fields (EMF) are generated by the operation of electrical power equipment,
such as transformers, converters, or motors. People with pacemakers or implants are at
particular risk in the immediate vicinity of this equipment.
•If this affects you, maintain the minimum distance to such equipment that is specified in
the "Intended use" chapter.
WARNING
Active implant malfunctions due to permanent-magnet fields
Even when switched off, electric motors with permanent magnets represent a potential risk
for persons with heart pacemakers or implants if they are close to converters/motors.
•If this affects you, maintain the minimum distance to such equipment that is specified in
the "Intended use" chapter.
•When transporting or storing permanent-magnet motors always use the original packing
materials with the warning labels attached.
•Clearly mark the storage locations with the appropriate warning labels.
•
IATA regulations must be observed when transported by air.

Fundamental safety instructions
1.1 General safety instructions
Planetary gearboxes for servomotors
Operating Instructions, 09/2020, A5E50494253B AA 13
WARNING
Injury caused by moving or ejected parts
Contact with moving motor parts or drive output elements and the ejection of loose motor
parts (e.g. feather keys) out of the motor enclosure can result in severe injury or death.
•Remove any loose parts or secure them so that they cannot be flung out.
•Do not touch any moving parts.
•
Safeguard all moving parts using the appropriate safety guards.
WARNING
Fire due to inadequate cooling
Inadequate cooling can cause the motor to overheat, resulting in death or severe injury as a
result of smoke and fire. This can also result in increas
ed failures and reduced service lives of
motors.
•Comply with the specified cooling requirements for the motor.
WARNING
Fire due to incorrect operation of the motor
When incorrectly operated and in the case of a fault, the motor can overheat resulting in fire
and smoke. This can result in severe injury or death. Further, excessively high temperatures
destroy motor components and result in increased failures as well as shorter service lives of
motors.
•Operate the motor according to the relevant specifications.
•Only operate the motors in conjunction with effective temperature monitoring.
•
Immediately switch off the motor if excessively high temperatures occur.
CAUTION
Burn injuries caused by hot surfaces
In operation, the motor can reach high temperatures, which can cause burns if touched.
•Mount the motor so that it is not accessible in operation.
Measures when maintenance is required:
•Allow the motor to cool down before starting any work.
•
Use the appropriate personnel protection equipment, e.g. gloves.

Fundamental safety instructions
1.2 Equipment damage due to electric fields or electrostatic discharge
Planetary gearboxes for servomotors
14 Operating Instructions, 09/2020, A5E50494253B AA
1.2 Equipment damage due to electric fields or electrostatic
discharge
Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules
or devices that may be damaged by either electric fields or electrostatic discharge.
NOTICE
Equipment damage due to electric fields or electrostatic discharge
Electric fields or electrostatic discharge can cause malfunctions through damaged individual
components, integrated circuits, modules or devices.
•Only pack, store, transport and send electronic components, modules or devices in their
original packaging or in other suitable materials, e.g conductive foam rubber of
aluminum foil.
•Only touch components, modules and devices when you are grounded by one of the
following methods:
–Wearing an ESD wrist strap
–Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring
•Only place electronic components, modules or devices on conductive surfaces (table
with ESD surface, conductive ESD foam, ESD packaging, ESD transport container).

Fundamental safety instructions
1.3 Security information
Planetary gearboxes for servomotors
Operating Instructions, 09/2020, A5E50494253B AA 15
1.3 Security information
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens’ products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be connected
to an enterprise network or the internet if and to the extent such a connection is necessary
and only when appropriate security measures (e.g. firewalls and/or network segmentation)
are in place.
For additional information on industrial security measures that may be implemented, please
visit
https://www.siemens.com/industrialsecurity (https://www.siemens.com/industrialsecurity).
Siemens’ products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends that product updates are applied as soon as they are
available and that the latest product versions are used. Use of product versions that are no
longer supported, and failure to apply the latest updates may increase customer’s exposure to
cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed under
https://www.siemens.com/industrialsecurity
(https://new.siemens.com/global/en/products/services/cert.html#Subscriptions).
Further information is provided on the Internet:
Industrial Security Configuration Manual
(https://support.industry.siemens.com/cs/ww/en/view/108862708)
WARNING
Unsafe operating states resulting from software manipulation
Software manipulations, e.g. viruses, Trojans, or worms, can cause unsafe operating states
in your system that may lead to death, serious injury, and property damage.
•Keep the software up to date.
•Incorporate the automation and drive components into a holistic, state-of-the-art
industrial security concept for the installation or machine.
•Make sure that you include all installed products into the holistic industrial security
concept.
•Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.
•
On completion of commissioning, check all security-related settings.

Fundamental safety instructions
1.4 Residual risks of power drive systems
Planetary gearboxes for servomotors
16 Operating Instructions, 09/2020, A5E50494253B AA
1.4 Residual risks of power drive systems
When assessing the machine- or system-related risk in accordance with the respective local
regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer
must take into account the following residual risks emanating from the control and drive
components of a drive system:
1. Unintentional movements of driven machine or system components during commissioning,
operation, maintenance, and repairs caused by, for example,
–Hardware and/or software errors in the sensors, control system, actuators, and cables
and connections
–Response times of the control system and of the drive
–Operation and/or environmental conditions outside the specification
–Condensation/conductive contamination
–Parameterization, programming, cabling, and installation errors
–Use of wireless devices/mobile phones in the immediate vicinity of electronic
components
–External influences/damage
–X-ray, ionizing radiation and cosmic radiation
2. Unusually high temperatures, including open flames, as well as emissions of light, noise,
particles, gases, etc., can occur inside and outside the components under fault conditions
caused by, for example:
–Component failure
–Software errors
–Operation and/or environmental conditions outside the specification
–External influences/damage
3. Hazardous shock voltages caused by, for example:
–Component failure
–Influence during electrostatic charging
–Induction of voltages in moving motors
–Operation and/or environmental conditions outside the specification
–Condensation/conductive contamination
–External influences/damage
4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a risk to
people with a pacemaker, implants or metal replacement joints, etc., if they are too close
5. Release of environmental pollutants or emissions as a result of improper operation of the
system and/or failure to dispose of components safely and correctly
6. Influence of network-connected communication systems, e.g. ripple-control transmitters or
data communication via the network
For more information about the residual risks of the drive system components, see the
relevant sections in the technical user documentation.

Planetary gearboxes for servomotors
Operating Instructions, 09/2020, A5E50494253B AA 17
Description of the planetary gearbox
2
2.1 Correct and intended use
WARNING
Incorrect use
If you do not use/operate the motors correctly, there is a risk of death, severe injury and/or
material damage.
•Only use the planetary gearbox for its intended purpose
•Make sure that the conditions at the location of use comply with all the rating plate data.
•Make sure that the conditions at the location of use comply with the conditions specified
in this documentation. When necessary, take into account deviations regarding
approvals or country-specific regulations.
Planetary gearboxes are intended for industrial and commercial systems.
The planetary gearboxes are designed for operation in covered areas under normal climatic
conditions, such as those found on shop floors and indoor production environments.
More detailed information is provided in Chapter " (Page 19)".
Any other use of the planetary gearbox is considered to be incorrect use.
Carefully complying with all the specifications in these Operating Instructions as well as the
Operating Instructions and Configuration Manual of the mounted motor is a part of correct
and intended use.
Please observe the data on the rating plates of the motor and planetary gearbox.

Description of the planetary gearbox
2.2 Technical features and environmental conditions
Planetary gearboxes for servomotors
18 Operating Instructions, 09/2020, A5E50494253B AA
2.2 Technical features and environmental conditions
2.2.1 Technical features
This chapter describes the assignment and features of the individual planetary gearboxes.
Principle design of the geared motor
1
Output shaft (customer mounting flange)
2
Gearbox housing (gearing area)
3
Gearbox flange
4
Motor
Figure 2-1 Geared motor design
Technical features of NRB, NRK and NLC planetary gearboxes
NRB
NRK
NLC
In a system with
1FK2
x
x
x
Permissible temperature during transport
- 15 ... 55 °C
Permissible temperatures during storage
- 15 ... 55 °C
Permissible ambient temperatures in opera-
tion without derating
- 15 ... 40 °C
Max. permissible gearbox operating tem-
perature
90 °C
Mounting flange (acc. to IEC 60034-7)
IM B14
IM B14
IM B5
Type of output shaft
Solid shaft with or without fitted key